diff --git a/wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
index dfd078c155..4aac813eb8 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
@@ -124,9 +124,9 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
 TEST_P(MotorEncoderTest, PIDController) {
 	Reset();
 
-	PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
+	PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
 	pid.SetAbsoluteTolerance(20.0f);
-	pid.SetOutputRange(-0.2f, 0.2f);
+	pid.SetOutputRange(-0.3f, 0.3f);
 	pid.SetSetpoint(2500);
 
 	/* 10 seconds should be plenty time to get to the setpoint */
@@ -136,7 +136,7 @@ TEST_P(MotorEncoderTest, PIDController) {
 
 	RecordProperty("PIDError", pid.GetError());
 
-	EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
+	EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
 }
 
 /**
diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index 8e379bb129..6e3345210c 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -44,8 +44,8 @@ public class PIDTest extends AbstractComsSetup {
 	private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
 	private NetworkTable table;
 	
-	private static final double absoluteTollerance = 30;
-	private static final double outputRange = 0.2;	
+	private static final double absoluteTollerance = 20;
+	private static final double outputRange = 0.3;	
 	
 	private PIDController controller = null;
 	private static MotorEncoderFixture me = null;
@@ -72,8 +72,8 @@ public class PIDTest extends AbstractComsSetup {
 	public static Collection<Object[]> generateData(){
 		//logger.fine("Loading the MotorList");
 		Collection<Object[]> data = new ArrayList<Object[]>();
-		double kp = 0.003;
-		double ki = 0.0015;
+		double kp = 0.001;
+		double ki = 0.0005;
 		double kd = 0.0;
 		for(int i = 0; i < 1; i++){
 			data.addAll(Arrays.asList(new Object[][]{